FR2911808A1 - Woodwork fixing device for fixing e.g. hinge, has gripping unit developed in gripping configurations, where each configuration grips particular type of fitting, which is differed by shape and dimension of other type of fittings - Google Patents

Abstract

The device (1) has a positioning arm (5) provided with a gripping unit (6) seizing fittings (2) to install the fittings on a frame (3), where the arm positions the gripping unit with respect to the frame, such that the gripping unit held by the unit is provided relative to a predetermined location of the frame provided for receiving the fitting. The gripping unit is developed in gripping configurations, where each configuration grips particular type of fitting, which differs by shapes and dimension of other type of the fittings to which other configuration corresponds. Independent claims are also included for the following: (1) a method for fixing a woodwork (2) computer program comprising instructions to perform a method for fixing a woodwork (3) a computer readable medium comprising instructions to perform a method for fixing a woodwork.

Description

JOINERY FITTING STATION AND CORRESPONDING METHOD

  The present invention relates to the field of forging machines involved in the manufacture of joinery elements, in particular for the building sector.

  More specifically, the present invention relates to a joinery fitting device for fitting fittings, such as cremones, hinges or strikers, on frames of joinery elements, such as frames or doors or windows , said device 10 comprising: - a frame support arranged to hold the frame to be shoeed; - a positioning arm provided with a gripping means adapted to grip a fitting for fitting onto said frame, said positioning arm being designed to position the gripping means 15 relative to the frame so that the fitting held by said gripping means is opposite a predetermined location of said frame provided to receive said fitting.

  The present invention also relates to a fitting end of joinery.

  The present invention also relates to a method of manufacturing joinery intended to be implemented within a joinery fitting device comprising a positioning arm provided with a gripping means able to grip a fitting for its installation. on a carpentry element frame. Finally, the present invention relates to a computer program comprising a computer program code means adapted to perform the steps of a method of fitting joinery according to the invention.

  In the construction sector, it is known to make openings in buildings to allow access, lighting or ventilation.

  As is well known, such openings are generally provided with carpentry elements, such as doors or windows, which generally comprise a frame fixed to the masonry, said frame, on which are articulated one or more mobile frames said opening.

  Known frames are generally made of a rigid material resistant to weather, such as treated wood, aluminum, or plastic PVC type.

  To allow and control the mobility of the opening relative to the frames, it is necessary to provide the frames metal guide parts, articulation or locking known under the generic name of hardware. The operation of placing said fittings on the frames is called shoeing.

  In order to produce carpentry in sufficient quantity to meet the demand of the construction and renovation market, the shoeing operations have been standardized and industrialized.

  To this end, it is known to use automatic forging machines that are able to position and fix the necessary fittings 870393 / FR on a carpentry frame determined at a high rate and having a good reproducibility.

  In particular, it is known to use forging machines comprising a horizontal table on which is clamped the frame to be ironed, and an arm which overhangs said table and which is mounted mobile parallel to the plane of said table, said arm carrying a forging head adapted to take a fitting in a store next to the table and then to position and fix it on said frame, for example by screwing.

  If such machines of the prior art generally give satisfaction especially in terms of accuracy and reproducibility, they nevertheless have significant disadvantages.

  Indeed, the known automated shoeing machines are generally dedicated to the installation of a single type of particular fitting.

  That is why it is necessary, to achieve the complete manufacture of the same frame of carpentry comprising various types of hardware, for example a frame supporting both hinges and strikes, to achieve a production line incorporating several series. successive forging machines each dedicated to the installation of one of said types of hardware.

  In addition, the type of hardware depending on the nature of the frame, it is necessary to distinguish the shoeing machines for the opening and those for dormant.

  Thus, it is common to encounter a line specifically dedicated to dormant, including for example a file, a platineuse and a drill, said line cohabitant with a second distinct line 25 specially dedicated to the opening, the latter comprising for example B70393 / FR a post angle, a cremone setting station, a cremone screw station, etc.

  It is therefore easy to understand that the manufacturer of joinery wishing to expand its product range is forced to increase the number of shoeing machines.

  The acquisition or evolution of an appropriate industrial production tool therefore requires heavy investments that can only be made profitable by massive manufacturing, the manufacturer thus remaining permanently captive to a range of standardized products.

  Moreover, in addition to the fact that they have a certain lack of flexibility and scalability, the forging machines of the prior art generally have a complex and voluminous structure that combines mechanical gripping and driving, control electronics and energy distribution circuits, which tends to make them cumbersome, to complicate their maintenance, and thus to increase their operating cost.

  The objects assigned to the present invention therefore aim to remedy the drawbacks enumerated above and to propose a new joinery shoeing device that is versatile and scalable.

  Another object assigned to the invention is to propose a new fitting device which is particularly simple and compact in design.

  Another object assigned to the invention is to propose a new fitting device that is inexpensive to purchase as in use. B 70393 / FR Another object of the present invention is to propose a new fitting device whose operation is particularly precise, reliable and reproducible.

  The objects assigned to the present invention are also intended to provide a new forging device allowing a quick and easy installation of hardware on a carpentry frame.

  The objects assigned to the present invention are also intended to provide a new fitting device that requires a minimum of monitoring and intervention of the operator.

  The objects assigned to the invention are also intended to provide a new carpentry shoeing tip that can give a forging device great versatility and good reproducibility.

  The objects assigned to the present invention also aim to propose a new method of carpentry shoeing that is versatile and scalable.

  The objects assigned to the present invention are then intended to provide a new method of carpentry shoeing whose implementation is simple, fast and reliable.

  The objects assigned to the invention are finally intended to provide a computer program specifically adapted to the manufacture of joinery which is scalable and optimizes both the performance and versatility of the shoeing device that it drives.

  The objects assigned to the invention are attained by means of a joinery fitting device intended for the fitting of fittings, such as cremones, hinges or locks, on frames of joinery elements, such as B70393 / FR sleepers or door or window openings, said device comprising: a frame support arranged to hold the frame to be shoeed, a positioning arm provided with a gripping means capable of grasping a fitting for fitting onto said frame; frame, said positioning arm being adapted to position the gripping means relative to the frame so that the fitting held by said gripping means is opposite a predetermined location of said frame provided to receive said fitting, said device forging being characterized in that the gripping means is designed to evolve in several gripping configurations, each gripping configuration being specifically adapted to the gripping of a particular type of fitting which differs in form and / or dimensions of the other types of fittings to which correspond or the other gripping configurations.

  The objects assigned to the invention are also achieved by means of a joiner's shoe end for use as an interchangeable part of a hardware gripping means within a carpentry fitting device. such that said gripping means can, depending on the choice of said ferrule, evolve in several gripping configurations, each gripping configuration being specifically adapted to the gripping of a particular type of fitting which differs in form and / or its dimensions or other types of fittings to which correspond or other gripping configurations.

  The objects assigned to the invention are also achieved by means of a joinery method for fitting into a joinery-fitting device comprising a positioning arm.

  B70393 / FR provided with a gripping means adapted to grip a fitting for placement on a carpentry element frame, said method being characterized in that it comprises a step (a) for configuring the gripping means wherein said gripping means is imparted with a specific gripping configuration selected from a plurality of possible gripping configurations, each of said gripping configurations being specifically adapted for gripping a particular type of fitting which differs in form and / or or its dimensions of the other types of fittings to which the one or more other gripping configurations correspond.

  The objects assigned to the invention are finally achieved by means of a computer program comprising a computer program code means adapted to perform the steps of a joinery method according to the invention when said program is executed. on a computer.

  Other objects, features and advantages of the invention will appear in more detail on reading the description which follows, and with the aid of the accompanying drawings, provided for purely illustrative and non-limiting purposes, among which:

  - Figure 1 illustrates, in an overall perspective view, an alternative embodiment of a joinery fitting device according to the invention.

  - Figure 2 illustrates, in a perspective view, a part of the fitting device of Figure 1.

  - Figures 3A and 3B illustrate, in a perspective view, the principle of gripping a fitting by a nozzle according to the invention. B70393 / FR - Figures 4A to 4E illustrate, in a schematic diagram, the implementation of a method of carpentry shoeing according to the invention.

  - Figure 5 illustrates, in a schematic perspective view, a part of a joinery fitting device according to the invention.

  The present invention relates to a device 1 for the manufacture of joinery for the fitting of fittings 2 on frames 3 of joinery elements.

  By joinery elements, we designate dormant or opening doors, windows, hatches, shutters (etc.) which generally comprise one or more reinforcing pieces constituting a substantially rigid frame 3 which can in particular serve as a support for a solid panel or glazed element.

  Frequently, such frames 3 are made by the assembly of profiles, for example of wood, PVC type plastic, aluminum-type metal, which constitute the uprights and cross members of a perforated plane element, preferably of rectangular shape .

  Although the device 1 is preferably designed for the manufacture of joinery elements dedicated to the building sector and intended to be integrated into a real estate work, and more specifically against the masonry, it is however possible that the device and the method compliant the invention are adapted to the manufacture of joinery elements for furniture, such as, for example, cabinet elements or cupboards.

  By fitting means any mechanical part, preferably metal, used in carpentry to allow including the attachment or reinforcement of a frame, the assembly and articulation of an opening relative to a dormant B70393 / FR or else the control of closing and opening operations, for example locking / unlocking, guiding and maneuvering said opening relative to said frame.

  By way of nonlimiting examples of fittings 2, mention may notably be made of cremones, hinges, strikers, plugs, bearings, angle gears, compasses, housings, tilt-and-turn pivots, play and transport wedges, etc. .

  According to the invention, the forging device 1 comprises a frame support 4 arranged to hold the frame 3 to be fastened, as well as a positioning arm 5 provided with a gripping means 6 able to grip a fitting 2 in order to its laying on said frame 3.

  The frame support 4 can in particular be in the form of a welded structure forming a sort of bridge on which the frame 3 to be ironed in the raised position, supported by an angle, so as to face the positioning arm 5, as shown in Figure 1.

  Of course, it is quite conceivable that the frame support 4 extends substantially horizontally or at any inclination between the horizontal and the vertical without departing from the scope of the invention. According to a preferred embodiment, said support comprises for this purpose an adjustable tilting table (possibly motorized).

  Furthermore, the frame support 4 may or may not be provided with clamping means capable of locking the frame to be fastened 3 during the shoeing operations. Of course, it is conceivable that the frame to be ironed 3 is simply placed on said support 4 and maintained under the effect of its own weight. In addition, the frame support 4 may be functionally associated with a conveyor designed to supply said frame support to be shoeed and / or remove the frame after the shoeing operation. Such a conveyor can in particular be made using cylinders without rods.

  The positioning arm 5 is designed to position the gripping means 6 relative to the frame 3 so that the fitting 2 held by said gripping means 6 is opposite a predetermined location of said frame 3 which is intended to receive said fitting 2.

  In other words, the positioning arm 5 is movable relative to the frame 3, and more generally with respect to the support 4, and has a sufficient clearance to access the different parts of the frame that are affected by the shoeing.

  In a particularly preferred manner, as illustrated in particular in FIG. 1, the positioning arm 5 is articulated, and particularly preferably formed by a robotic manipulator arm 10 with six axes.

  Advantageously, such an arrangement offers a wide possibility of positioning the gripping means 6 with respect to the frame 3, insofar as it allows the device 1 according to the invention to operate in a three-dimensional work window, with a radius of extended action and offering very varied approach conditions of the gripping means 6 vis-à-vis the frame 3.

  Indeed, such a robotic arm is able to clear a passage to reach almost all the free surfaces of the frame 3, even bypassing 25 possible elements of the frame forming obstacles to the direct progression of the gripping means 6. B70393 / FR In particular the device 1 according to the invention is advantageously capable of fitting fittings 2 as well on the face as on one of the edges of said frame 3.

  The device 1 according to the invention therefore has a great freedom of movement and a high degree of adaptability which make it suitable for meeting the needs of shoeing frames of various sizes and shapes.

  According to an important characteristic of the invention, the gripping means 6 is designed to evolve in several gripping configurations, each gripping configuration being specifically adapted to the gripping of a particular type of fitting 2 which differs in its shape and / or its dimensions. of the other types of fittings 2 to which correspond, respectively, the other or configurations of gripping.

  In other words, the gripping means 6 according to the invention is configurable and designed to adapt to the gripping of at least two different types of fittings, so that the device 1 of shoeing is able to proceed the laying of at least two different models of fittings, and more generally a plurality of dimensionally and functionally distinct models of fittings, with the same positioning arm 5, centrally, without it is necessary to use a production line incorporating several forging devices, and more particularly several positioning arms.

  The device 1 according to the invention is therefore particularly versatile, somehow multitasking, since it can adapt on the one hand to the frame of various shapes and sizes, and on the other hand to the seizure, to the

  B70393 / EN handling and installation of fittings of very different models (especially on the same frame), which gives it a great flexibility of use vis-à-vis the imperatives of the production.

  Preferably, the gripping means 6 comprises for this purpose a base 12 which is kinematically fixed to the positioning arm 5, and a ferrule 14 which is fixed on said base 12 with the aid of FIG. Coupling means 15. Said ferrule 14 is adapted to grip a particular type of ferrule 2, so that the choice of said ferrule 14 determines the gripping pattern.

  Preferably, as shown in FIGS. 1 and 2, the base 12 is integrated with a head 11 of the robotic arm 10, which is fixed at the end articulation section (or wrist) of said robotic arm 10 , so that the ferrule 14 is substantially at the free end of the positioning arm 5.

  According to an alternative embodiment not shown, it is conceivable that the head 11 of the robotic arm 10 is provided with a ferrule 14 consisting of a universal clamp having several jaws whose separation distance can be adjusted according to the fitting to seize. In other words, it is conceivable that the choice of the tip is summarized in a choice of conformation of said tip, in this case of said clamp, among a plurality of conformations that can adopt said tip; that is to say, it is used for different gripping operations involving the gripping of different models of fitting a single tip which is reworked at each change of gripping configuration so as to match the new fitting to ask. B70393 / FR However, particularly preferably, each ferrule 14 has a predetermined conformation and substantially invariant, specifically and exclusively adapted to the gripping of a single type of fitting 2 (possibly a single range of fittings with a community sufficient shapes and sizes), the selection of the gripping configuration is done by selecting the tip that is appropriate to the fitting considered, and the passage from one gripping configuration to another is performed by replacing a ferrule 14 by another.

  Preferably, the coupling means 15 is therefore reversible and designed to alternatively adopt a fastening configuration, in which it secures the ferrule 14 to the base 12, and a release configuration, in which it allows the separation said ferrule 14 of said base 12 for the removal and replacement of said ferrule 14.

  The device 1 according to the invention therefore has a modular structure that allows to associate alternately to the same base 12 a plurality of interchangeable ferrules 14, and thus to have as many gripping configurations as there are 14 bits available, the passage from a gripping configuration to another gripping configuration being effected by the only change of the ferrule 14.

  Although it is conceivable to provide the positioning arm 5, and more particularly the head 11, an on-board tank of ferrules 14, such as a rotary barrel able to place on command one or the other end pieces that it contains vis-à-vis the base 12, the positioning arm 5, and more specifically the gripping means 6, will preferably be arranged so as to simultaneously embark only one and single ferrule 14, the change of gripping configuration

  B70393 / FR being carried out by exchange of the on-board nosepiece, that is to say by removing a first ferrule already installed in place so as to release the base 12, then by mounting another ferrule 14 on said base 12.

  For this purpose, the device according to the invention preferably comprises a stubby bit magazine 16 which contains a plurality of ferrules 14 which correspond to the different types of fittings to be laid, said bit magazine 16 being arranged to allow the alternative taking and removal of said ferrules 14 by the positioning arm 5.

  Advantageously, the shoe bit magazine 16 according to the invention therefore constitutes a tip exchange and storage station which determines the number of gripping configurations available for the device 1.

  Of course, the ferrules 14 stored in the magazine 16 are arranged to be accessible to the positioning arm 5, and more particularly to the head 11 of the robotic arm 10. As shown in Figure 1, the store can therefore be in the form of a display, the various locations 16A, 16B, 16C, 16D are identified and identifiable by the positioning arm 5 (and for example stored in the servo-control circuit movements of said arm).

  In a particularly advantageous manner, the selection and the unitary use of the ferrule 14 make it possible to limit the weight and the overall bulk of the head 11, and consequently to gain in speed, precision, and consumption of energy during the shoeing operation.

  Of course, the coupling means 15 is chosen so as to be compact and simple to implement. According to a preferred embodiment B70393 / FR, it comprises an electromagnet arranged to, when activated, that is to say electrically powered, hold the ferrule 14 pressed against the base 12. From Preferably, said electromagnet is housed inside said base 12.

  In a particularly preferred manner, the device 1 according to the invention has a control means 17, preferably programmable, such as a programmable logic controller, an electronic card or a computer, capable of automatically controlling the evolution of the gripping means 6 from one grip configuration to another.

  By automatically, it is indicated that the operation of reconfiguration of the gripping means 6, and more particularly of the exchange of the ferrule 14, is carried out without mechanical intervention of the operator on said gripping means 6, c ' that is to say that the device is able to perform this exchange itself autonomously, without external human assistance (if any, as soon as it was instructed to proceed to such an exchange).

  Of course, said control means 17 can also control the movements of the robotic arm 10, and control the passage of the coupling means 15 from its attachment configuration to its drop configuration and vice versa, for example by regulating the power supply of the robot. the electromagnet.

  The use of computerization then advantageously makes it possible to install both fittings 2 and tool changes (of bits 14) very quickly, which allows the device 1 to be particularly efficient and competitive. , even for mass production. B70393 / FR In addition, the coupling means 15 preferably comprises a coding element 20 which makes it possible to ensure the deterministic and reproducible positioning of the ferrule 14 with respect to the base 12.

  As shown in FIG. 4A, the coding element 20 may in particular comprise a system composed of one or more centering studs protruding from the face of the base 12 intended to receive the ferrule 14, said tenons being intended to cooperate with conjugated holes drilled in said ferrule 14.

  Thus, it is possible to guarantee a suitable and reproducible orientation of any ferrule 14 with respect to the positioning arm 5, which facilitates the definition and preservation of the working spatial reference of the device 1 (in particular to avoid drifts after a Machine Origin Socket).

  Preferably, as shown in Figures 2, 3A, 3B and 4A to 4E, the ferrule 14 has a footprint 21 substantially matched to that of the type of fitting 2 to ask.

  Thus, during gripping, the fitting 2 is at least partly housed in said recess 21. Of course, said recess 21 is advantageously arranged so that it has one or more bearing surfaces 21A, 21B, 21C which on the one hand guarantee a good grip of the fitting 2 grasped by limiting, or even preventing the parasitic movements including lateral of said bracket when it is housed in the cavity 21, and secondly serve as positioning stops guaranteeing a reproducible grip of successive fittings of the same type. In particular, the profile of the impression 21 can, B70393 / FR at the draft angles, substantially marry the outer contour of the fitting 2.

  In addition, the ferrule 14 is preferably provided with a locking member 22, for example of clip type, which is arranged to engage the fitting 2 during the gripping of the latter so as to oppose the separation of said bracket 2 and said ferrule 14. This avoids any risk of falling or accidental movement of the fitting relative to the gripping means 6 when said fitting is transported to the frame 3 by the positioning arm 5.

  In addition, said locking member 22 is preferably reversible under stress, so that it can release the fitting 2 when a separating force FS greater than a predetermined value Fso is exerted on said fitting 2.

  As illustrated in FIG. 4E, the separating force FS may consist of a tensile force oriented towards the outside of the cavity 21 in the opposite direction to that of the admission of the fitting 2 within said imprint 21.

  Thus, the locking member 22 avoids the accidental extraction of the fitting 2 from the gripping means 6 during the handling and installation of said fitting, but allows against the forced extraction of said bracket 2 out of the box. ferrule 14 after said fitting has been placed on the frame 3.

  Such reversible fitting advantageously allows, as will be detailed below, an easy transfer of the fitting 2 of the gripping means 6 to the frame 3, by a simple suitable dimensioning of the retention force of the locking member 22. B70393 / FR As illustrated in FIGS. 4A to 4E, the locking member 22 preferably comprises a latch 23 which is prestressed by an elastic member 24, said latch 23 protruding from the surface of the wall of the footprint 21 so as to cooperate with the surface of the fitting 2 when the latter is inserted into said cavity 21.

  The locking member 22 may advantageously be in the form of a ball plunger screwed into the body of the nozzle 14 and whose rounded tip projects on a wall substantially parallel to the direction of insertion of the fitting 2 in the impression 21, so that the end carrying the ball forming the latch 23 can retract and retract during the insertion or extraction by force of the fitting 2. It is remarkable that the spherical profile of the latch 23 is particularly simple to perform and promotes the reversibility of the snap.

  Thus, the ferrule 14 according to the invention constitutes a true interface between the positioning arm and the fitting 2, said interface being adapted on one side to a reversible, stable and reproducible mounting on the head 11, and the other side with a precise, fast, reversible and safe grip of the fitting 2.

  It is also remarkable that, according to a particularly simplified particular mode of operation, it is possible to directly attach the fitting 2 to the base 12 and to maintain it by using the electromagnet of the coupling means 15, without using any 14. Of course, it is necessary for this that the fitting to be installed has a surface in conjunction with that of the base 12 (flat, preferably) and that said fitting is sensitive to the magnetization (case of the fittings in steel). B70393 / FR Furthermore, as shown in FIGS. 1 and 4B, the device 1 according to the invention is advantageously provided with a hardware store 25 which has at least one storage area 26 containing one or more several copies of one or more types of fittings 2 determined, said hardware store 25 being arranged to be accessible to the gripping means 6.

  Although it is conceivable that the hardware store 25 is embedded on the positioning arm 5, it is preferable that it is separate from said arm and is a stationary feed station integrated in the shoeing station.

  In addition, although it is conceivable to use ferrules 14 arranged to collectively collect and transport several fittings 2 simultaneously, or to allow a group of said fitting 2 on the frame 3, the device 1 collects and preferably handles the fittings 2 individually, one by one, thus achieving the installation of each fitting separately.

  As shown in FIG. 1, the storage area 26 may be formed by a plurality of troughs 30 forming folders whose internal dimensions are chosen so as to be able to receive a stack of fittings 2 of a certain type, said stack being free to progress in translation along said chute 30 so that the fitting located at the end of the stack is present, and preferably emerges, chute outlet.

  It is remarkable that in place (or additionally) of a centralized collective display unit, the tooling bit magazine 16 may comprise a plurality of remote individual tool storage locations, in the form of bit holders. associated with the troughs 30. Thus, each chute 30 dedicated to a particular type of fitting 2 is provided with its own location of

  B70393 / FR tool storage for receiving the ferrule 14 specifically compatible with the type of hardware stored in said chute 30, when said ferrule is deposited. In other words, it is possible to divide the bit magazine 16 geographically and to store individually each ferrule 14 separately from the other bits by associating it with the reservoir which contains the fittings which correspond to it, in the immediate proximity of its site. use.

  Advantageously, such an arrangement first confers excellent scalability to the device 1 in that the only material modification to be made to the fitting device 1 to increase the range of models of fittings that said device 1 is able to ask then simply to add next to the trunking 30 already in place a new chute / bit holder assembly loaded with its ferrule 14.

  In addition, this reduces the risk of confusion or reversal when assigning the ferrules to their respective storage locations, the association with each chute 30 of a single ferrule 14 separate and clearly appearing to the operator responsible for the preparation or maintenance of the shoeing station.

  According to a preferred embodiment, the hardware store 20 has a loading means 31 able to transfer a fitting 2 from the storage area 26 to the gripping means 6.

  More specifically, as illustrated in FIG. 4B, the loading means 31 may comprise a ram, of the jack type, capable of conveying a fitting 2 coming from the storage area 26 and of driving said fitting 2 into the footprint 21 of the ferrule 14 until the engagement of the latch 23, when the gripping means 6 is at the mouth of the chute 30. B70393 / FR According to an alternative arrangement of the device 1 , the position of the ferrule 14 facing the loading means 31, at the mouth of the trough 30, may coincide with the position occupied by said ferrule 14 when deposited from the base 12 and stored on the bit holder, waiting to be secured to the arm 5. In other words, it is conceivable that the bit holder associated with the chute 30 is designed to allow first loading a fitting 2 in the ferrule 14 while the latter is detached from the base 12, then to then allow coupling of the bit / bracket assembly to the base 12 and its removal by the positioning arm 5.

  Furthermore, the device 1 according to the invention preferably comprises a mounting means 32, such as a screwdriver, said mounting means 32 being embedded on the positioning arm 5, and more precisely on the head 11, and arranged so as to allow attachment of the fitting 2 to the frame 3 when said fitting 2 is positioned on said frame by the gripping means 6.

  In particular, the mounting means 32 may be in the form of an electric or pneumatic screwdriver whose body is fixed on a carriage 33 mounted to move relative to the gripping means 6, so that it is possible to approaching or removing from the fitting 2 the rotary blade 34 of said screwdriver, the size of which is adapted to the operation of the fastening screw or screws of the fitting 2 on the frame 3.

  Advantageously, to give the head 11 a compact structure, the mounting means 32, and more particularly the rotary blade 34, is located substantially in alignment with the fitting 2 and the gripping means 6. For this purpose, the The ferrule 14 then has at least one lumen 35 which forms a tool passage arranged to allow the mounting means 32 to access the fitting and / or the frame, as shown in FIG. 4D. .

  In addition, as shown in Figures 1 and 2, the head 11 may also comprise a retaining means 36 for allowing the attachment of said head 11 on the frame 3, in order to avoid inadvertent retraction of the arm robotized 10 by reaction to an axial bearing force exerted by said robotic arm on the frame 3 during the implementation of the mounting means 32 or during the fitting of the fitting by the gripping means 6.

  In particular, the retaining means 36 will be able to compensate for the effects of the thrust that is applied to the rotary blade 34 to allow the fixing screw of the fitting 2 to penetrate the frame material 3. Advantageously, said means for retaining 36 may be formed by a bracket allowing the hooking of the part of the frame 3 opposite to the laying surface of the fitting 2 and penetration of the fixing screw.

  Furthermore, the head 11 may be provided with a differential displacement means 37 allowing the base 12 to move relative to said head 11, and more precisely with respect to the retaining bracket 36. The differential displacement means 37 may include a carriage 38 guided in translation and actuated by cylinder. In a particularly preferred manner, as illustrated in FIG. 2, the carriage 33 of the mounting means and the carriage 38 of the differential displacement means will share the same guide rail 39 so that the head 11 becomes more compact.

  Thus, the base 12 may be driven by a final movement of approach particularly fine and precise, especially when the fitting 2 must be brought into contact with the frame 3 (advance movement symbolized by the arrow VA) after the arm robotic 10 positioned said head 11 vis-a-vis, but slightly recessed, said frame 3. B 70393 / FR Of course, the device according to the invention may also include a preparation means, such as a drill , also mounted on the positioning arm 5 preferably at the level of the head 11, said preparation means being able to prepare, preferably by machining, a particular location of the frame 3 for the reception and fixing of the fitting 2.

  However, it is perfectly conceivable that the preparation of the frame to be ironed 3 is carried out on a separate preparation station, possibly of substantially similar design to that of the forging station, said preparation station also having a robotic arm with six axes, but different from the forging device in that its head comprises not a gripping means but a means of preparation.

  Of course, the forging device 1 according to the invention may be subject to design variations, and in particular may perfectly integrate a plurality of positioning arms 5 each provided with a gripping means 6 and / or means for preparing and / or mounting means.

  In addition, it will be readily understood that the number of different types of fittings that can be installed by the same device 1 can be changed by increasing the capacity of the hardware magazine 25, by placing the corresponding ferrules 14 in the bit magazine 16 and programming the corresponding sequence or sequences of manipulations at the level of the control means 17.

  Furthermore, according to a particularly advantageous embodiment variant which may constitute an invention as such, independently of the implementation of a configurable gripping means 6 according to the invention, the joinery fitting device may be provided with 'a

  B70393 / FR relative spatial locating means 40 adapted to identify a particular element on the frame 3 to be ironed, for example a rebate, and to consider said particular element as the point of origin of a relative mark associated with said frame 3 in order to enslave the displacement of the positioning arm 5 in said relative reference.

  More specifically, the relative spatial locating means 40 will comprise a detection member on board the positioning arm 5, preferably in the immediate vicinity of the gripping means 6, and capable of detecting the presence of a particular element of said frame 3 when the positioning arm 5, respectively the gripping means 6, passes close to this particular element.

  Although it is conceivable to use a sensor-type mechanical detection member, said detection member will preferably comprise an optical sensor 41, of the laser sensor type with background suppression, arranged to scan the frame 3 of its probe. beam 42 when the positioning arm 5 moves relative to said frame 3 and to detect a change of state, such as a rising edge, corresponding to the transition marked by a rabbet 43 of the frame 3.

  FIG. 5 thus represents two successive positions of the optical sensor 41, one in solid lines and the next in dotted lines, considered respectively before and after the crossing (according to the vertical arrows) of the edge marked by the rabbet 43.

  More specifically, the optical sensor 41 is preferably embedded on the head 11, its laser beam being pointed in the extension of said head 11 and oriented substantially perpendicularly to the main extension plane P of the frame 3, while the head 11 is driven moving by the robotic arm 10 vis-à-vis the frame 3, parallel to the plane

  B70393 / FR main extension P. Thus, the crossing (or overflight) of a rebate 43, that is to say a frame edge corresponding to the edge of an amount or a cross , will generate a signal variation emitted by the sensor that will correspond to the transition between a near reflection field and a far reflection field of the beam.

  Of course, the management of the locating means 40 and in particular the measurement of the displacement distance of the positioning arm 5 relative to the origin point of the relative mark, according to one or other of the axes of said mark, may be integrated in the control means 17 and driven by a suitable computer program.

  The implementation of such a relative locating means advantageously makes it possible to very precisely position the gripping means 6 with respect to each frame 3 and thus to postpone with an excellent precision (of the order of a tenth of a millimeter) the fitting 2 on said frame 3, despite variations in the conditions of manufacture, a frame 3 to the other, due to manufacturing tolerances or positioning of the frame 3 on the support 4.

  Furthermore, the present invention also relates to a carpentry attachment end 14 as such, said attachment piece 14 being intended to be used as an interchangeable part of a gripping means 6 of fitting 2 within a Joining device 1, so that said gripping means 6 can, depending on the choice of said ferrule 14, evolve in several gripping configurations, each gripping configuration being specifically adapted to the gripping of a particular type fitting 2 which differs in form and / or size from the other types of fitting to which the one or more other gripping configurations correspond. B 70393 / FR Of course, the ferrule 14 may be subject to all the variants described above and will be compatible with its attachment to the base 12 with a means of coupling 15 as defined above.

  A method of fitting joinery according to the invention will now be described with reference to FIGS. 4A to 4E.

  The shoeing method according to the invention is intended to be implemented within a joinery fitting device comprising a positioning arm 5 provided with a gripping means 6 able to grip a fitting 2 in view of its laying on a frame 3 of carpentry element.

  Of course, the implementation of said method is particularly indicated within a forging device 1 as described above.

  According to an important characteristic of the invention, said method of fitting comprises a step (a) of configuration of the gripping means 6 during which said gripping means 6 are given a specific gripping configuration chosen from among a plurality of gripping configurations possible, each of said gripping configurations being adapted to the gripping of a particular type of fitting 2 which differs in form and / or size from the other types of fittings 2 to which correspond, respectively, the other gripping configuration or configurations .

  Preferably, the gripping means 6 comprising a base 12 secured to the positioning arm 5, the step (a) for configuring the gripping means comprises a sub-step (a1) of selection during which one selects from a plurality of ferrules 14 B 70393 / FR available, a particular ferrule 14 which corresponds to the fitting 2 to be laid.

  Said sub-step (a1) of selection may in particular be carried out using a bit magazine 16 provided with a display whose locations 16A, 16B, 16C, 16D are located in the memory of the control means 17 so that the robotic arm 10 can go to take the fitting ferrule 14 appropriate on said display.

  In addition, the step (a) of configuration of the gripping means preferably comprises a sub-step (a2) of assembly during which is fixed on said base 12 the ferrule 14 selected in the sub-step step (a1) using a suitable coupling means 15.

  More particularly, with reference to FIG. 4A, said substep (a2) of assembly may consist of bringing the head 11 close to the bit magazine 16, opposite one of the locations 16A. 16B, 16C, 16D, to bring the base 12 of the ferrule 14 until the coding pin 20 engages in the corresponding hole, then to activate the electromagnet so as to come the tip 14 against the base 12 and thus achieve a connection between these two elements.

  Furthermore, the step (a) of configuring the gripping means can comprise an initialization substep (a0), prior to the substep (a1) of selection, during which the positioning arm is deposited. A first ferrule formerly attached to the base 12, so as to be able to subsequently replace said first ferrule with a second newly selected ferrule during the substep (a1) selection.

  Of course, such an exchange of tips is preferably automated. B70393 / FR Once the ferrule 14 embarked on the head 11, the method of shoeing according to the invention also comprises a step (b) for the collection of fittings during which is taken a fitting 2 using gripping means 6 in a hardware store 25 as shown in Figure 4B.

  More specifically, the robotic arm 10 moves the head 11 so as to position the ferrule 14, and more particularly the footprint 21 facing the outlet of a storage area 26 out of which a fitting 2 is ejected under the thrust of a loading cylinder 31. The displacement of said bracket 2 is sufficient for it to cross the latch 23 of the locking member 22 and snap into the bottom of the footprint 21, docking thus to the positioning arm 5.

  The shoeing method according to the invention then comprises a step (c) of laying during which the gripping means 6 are positioned relative to the frame 3, with the aid of the positioning arm 5, so that the fitting 2 held by said gripping means 6 is opposite a predetermined location of said frame provided to receive said fitting 2. Preferably, the inner plate of the retaining bracket 36 is then positioned at the rear of the frame 3, bearing on the face which is opposite the face on which the fitting must be placed.

  As shown in FIG. 4C, the fitting 2 may also be provided with protruding lugs 2A, 2B intended to be plugged into housings 3A, 3B, such as grooves, formed in the frame 3. The fitting is in this case transported from the hardware magazine 25 to the frame, facing said housings 3A, 3B, then approaching the frame 3, according to a forward movement VA, so that the legs 2A, 2B enter their respective dwelling 3A, 3B. Such a pre-fixing operation makes it possible to center the fitting 2 properly by

  B70393 / FR to the frame by the landmarks of dwellings 3A, 3B. In addition, it is thus possible to stabilize the fitting 2 during its fixation because it is wedged, sandwiched, between the ferrule 14 and said frame 3.

  The routing of the fitting 2 from the hardware magazine 25 to the frame 3 is therefore preferably carried out in two stages: firstly, the robotic arm 10 moves the head 11 so as to position it ( therefore the gripping means 6), facing the frame 3, slightly set back from the surface intended to receive the fitting 2, then, in a second step, the base 12 is brought closer to the frame by means of of the differential movement means 37, according to the advance movement VA, while the head 11 remains stationary, until the fitting 2 is pressed against the frame 3 (the frame 3 then being pinched between the endpiece forging 14 and the retaining bracket 36).

  Then, the shoeing method according to the invention comprises a step (d) of assembly during which the fitting 2 is fixed to the frame 3.

  As shown in FIG. 4D, said fixing can in particular be done by screwing with the aid of a rotary screwdriver blade 34 which passes through the ferrule 14 at the level of the slot 35 so as to manipulate a screw which compresses the fitting 2 against the frame 3.

  According to a particularly advantageous characteristic of the invention, the method of shoeing then comprises a step (e) of release, subsequent to the step (d) of assembly, during which the positioning arm 5 of the frame 3 is removed from so as to dislodge by force of the gripping means 6 the fitting 2 fixed to the frame 3. B70393 / FR In other words, as shown in Figure 4E, the base 12 performs a recoil movement VR, meaning opposite to the advance movement VA, which would normally tend to release the fitting 2 out of the frame 3, because said fitting is still stuck in the cavity 21 by the latch 23. However, the fastening by screw of said fitting 2 on said frame 3 opposes this recoil movement, and generates, by reaction, a separating force FS which acts, via the fitting 2, against the latch 23 and leads it to retract by compressing the spring 24. This has the effect of tearing r the fitting 2 to the impression 21, while said fitting 2 remains attached to the frame 3.

  It is remarkable that the initialization sub-step (a0) is optional, the cycle formed by the succession of the collection steps (b), (c) laying, (d) mounting and (e) release being possible. repeated so as to deposit several fittings of the same type on one or more different frames, retaining at each cycle the same ferrule 14.

  In addition, the forging method in accordance with the invention may comprise, preferably as sub-steps of the laying step (c), a step (f) of defining a relative reference mark during which one identifies using a relative spatial identification means (40), a particular element of the frame 3 and associated to said frame 3 a relative reference of which said particular element constitutes the point of origin, and a step (g) relative displacement during which the positioning arm 5, and more precisely the gripping means 6, is moved relative to said origin point in a predetermined direction, direction and distance (offset setpoint).

  Preferably, the step (f) of defining a relative reference mark will comprise a scanning phase (fi) during which one will scan, with the aid of the beam B70393 / FR coming from a sensor body of the laser sensor type. , the frame 3, so as to detect the transition marked by a rabbet 43.

  Preferably, the identification of the point of origin during step (f) and the displacement of the positioning arm 5 during step (g) will be carried out according to the same movement, in a direction substantially parallel to the plane main extension P of the frame 3.

  More precisely, considering that the frame 3 is arranged vertically on the support 4, it is possible to make the head 11 leave a starting position situated under the lower crossmember of the frame 3, then to move said head through the arm 10 in one direction vertical upward parallel to the plane P until the laser beam detects the edge of the lower rabbet, and then vertically shift the head I l, in the extension of the initiated movement, a set value corresponding to the nominal latitude to which the fitting 2 must be positioned relative to said lower rabbet.

  Then, once the nominal latitude is reached, the head makes a substantially horizontal lateral displacement and always parallel to the plane P, to the right (respectively to the left), until the detection of the right rabbet (respectively left), then prolongs its movement of a lateral setpoint value corresponding to the nominal longitude at which the fitting 2 must be positioned relative to said right rebate (respectively left).

  The shoeing method according to the invention thus advantageously makes it possible to successively define, in two or three dimensions, the laying coordinates of the fitting 2 in a reference associated with the frame 3, by assigning to the positioning arm 5 a displacement instruction according to a known axis from each point of origin, so as to shift said arm 5 in successive steps predefined. B70393 / FR Of course, the forging method according to the invention can be fully or partly automated, including computerized. To this end, the present invention also relates to a computer program which comprises computer program code means adapted to perform one or more of the above-mentioned steps of a joinery-making process according to the invention when said program is executed on a computer. .

  Of course, the invention also relates to a support that can be read by a computer and on which is recorded such a program, and the implementation of such a computer program on a computer readable medium.

  More specifically, the computer program according to the invention will be able to control the movements of a positioning arm 5 with respect to a shop of ferrules 16 and to control the coupling means 15 so as to allow the realization of automatic exchange of ferrules 14 according to an instruction defining the fitting model 2 to ask.

  Thus, the device according to the invention advantageously makes it possible to create a particularly compact and simple shoeing station both in its structure and in its organization.

  Particularly advantageously, such a device proves versatile, insofar as it has a choice of hardware to install that corresponds to its pre-existing stock of ferrules 14, and especially evolutive to the extent that one can increase the number of models of hardware and fittings corresponding 25 made available to him, such a development is at a lower cost without causing major structural change in the postage. 870393 / FR 5 Thus, by combining versatility, scalability and speed of execution, the device according to the invention advantageously frees the user of any heavy industrial investment, regardless of the requirements of its production. B70393 / EN

Claims (2)

  1 - Carpentry assembly device (1) intended for fitting fittings (2), such as cremones, hinges or strikers, on frames (3) of joinery elements, such as frames or door openings or windows, said device comprising: - a frame support (4) arranged to hold the frame to be ironed (3), a positioning arm (5) provided with a gripping means (6) able to grip a fitting ( 2) for laying on said frame (3), said positioning arm (5) being adapted to position the gripping means (6) relative to the frame (3) so that the fitting (2) held by said gripping means (6) is opposite a predetermined location of said frame (3) adapted to receive said fitting, said device being characterized in that the gripping means (6) is adapted to evolve in a plurality of gripping configurations each gripping configuration being specifically adapted to the gripping of a particular type of fitting (2) which differs in form and / or size from the other types of fittings (2) to which the one or more other gripping configurations correspond. 2 Device according to claim 1 characterized in that the gripping means (6) comprises a base (12) integral with the positioning arm and a ferrule (14) fixed on said base (12) with the aid of a coupling means (15), said ferrule (14) being adapted to grip a particular type of ferrule (2) so that the choice of said ferrule (14) determines the gripping configuration . B70393 / FR3 - Device according to claim 2 characterized in that the coupling means (15) is reversible and designed to alternatively adopt a fastening configuration, in which it secures the ferrule (14) to the base ( 12), and a release configuration, in which it allows the separation of said ferrule (14) from said base (12) for the removal and replacement of said ferrule (14). 4 - Device according to claim 3 characterized in that the coupling means (15) comprises an electromagnet arranged to, when activated, keep the ferrule (14) pressed against the base. 5 - Device according to one of claims 2 to 4 characterized in that the coupling means (15) comprises a keying member (20) for ensuring the deterministic and reproducible positioning of the ferrule (14) relative to the base (2). 6 - Device according to one of claims 2 to 5 characterized in that the ferrule (14) has a footprint (21) of substantially matched shape to that of the type of fitting (2) to ask. 7 - Device according to one of claims 2 to 6 characterized in that the ferrule (14) is provided with a locking member (22) of the clip type, arranged to engage the fitting (2) when the gripping of the latter so as to oppose the separation of said bracket (2) and said ferrule (14), and in that said locking member (22) is reversible under stress, so that it can release the fitting (2) when a separating force (Fs) greater than a predetermined value (Fso) is exerted on said fitting (2). B70393 / FR 36 8 - Device according to claims 6 and 7 characterized in that the locking member (22) comprises a latch (23) preloaded by an elastic member (24), the kind of ball pusher, said latch (23). ) protruding from the surface of the wall of the cavity (21) so as to cooperate with the surface of the fitting (2) when the latter is inserted into said cavity (21). 9 - Device according to one of claims 2 to 8 characterized in that it comprises a store of ferrules (16) containing a plurality of ferrules (14) which correspond to the different types of fittings (2) to pose, said store bits of ferrage (16) being arranged to allow the setting and the removal alternative of said ferrules (14) by the positioning arm (5). 10 - Device according to one of the preceding claims characterized in that the positioning arm (5) is formed by a robotic arm (10) with 6 axes. 11 -Dispositif according to one of the preceding claims characterized in that it has a control means (17) adapted to automatically control the evolution of the gripping means (6) from one gripping configuration to another. 12 -Dispositif according to one of the preceding claims characterized in that it has a hardware store (25) having a storage area (26) containing one or more copies of one or more types of hardware ( 2) determined, said hardware store (25) being arranged to be accessible to the gripping means (6). 13 -Dispositif according to claim 12 characterized in that the hardware store (25) has a loading means (31) adapted to transfer B70393 / FRune hardware (2) from the storage area (26) to gripping means (6). 14 -Dispositif according to claims 8 and 13 characterized in that the loading means (31) comprises a pusher, cylinder-type, adapted to convey a fitting (2) from the storage area (26) and to drive said fitting (2) in the impression (21) of the ferrule (14) until engagement of the latch (23). 15 - Device according to one of the preceding claims characterized in that it comprises a mounting means (32), such as a screwdriver, said mounting means (32) being embedded on the positioning arm (5) and arranged so as to allow attachment of the fitting (2) to the frame (3) when said fitting (2) is positioned on said frame (3) by the gripping means (6). 16 - Device according to claims 2 and 15 characterized in that the ferrule (14) has at least one lumen (35) forming a tool passage arranged to allow the mounting means (32) to access the fitting (2) and / or frame (3). 17 Apparatus according to one of the preceding claims characterized in that it is provided with a relative spatial locating means (40) adapted to identify a particular element on the frame (3), for example a rabbet (43), and considering said particular element as the point of origin of a relative reference associated with said frame (3) in order to control the displacement of the positioning arm (5) in said relative reference. 18 -Dispositif according to claim 17 characterized in that the relative spatial locating means (40) comprises a detection member embedded on the positioning arm (5), said detection member comprising B70393 / FRa optical sensor (41), type laser sensor with background suppression, arranged to scan the frame (3) of its beam (42) when the positioning arm (5) moves relative to said frame (3). 19 -Employer joinery insert (14) intended to be used as an interchangeable part of a gripping means (6) of fittings (2) within a joinery fitting device so that said means of gripping (6) may, depending on the choice of said ferrule (14), evolve in several gripping configurations, each gripping configuration being specifically adapted to the gripping of a particular type of fitting (2) which differs in its shape and / or its dimensions of the one or more other types of fittings (2) to which the one or more other gripping configurations correspond. 20 - A process for the manufacture of joinery intended to be implemented within a joinery fitting device comprising a positioning arm (5) provided with a gripping means (6) able to grip a fitting (2) in view of its installation on a frame (3) of carpentry element, said method being characterized in that it comprises a step (a) of configuration of the gripping means (6) during which said gripping means is imparted (6) a specific gripping configuration selected from a plurality of possible gripping configurations, each of said gripping configurations being specifically adapted for gripping a particular type of fitting (2) which differs in form and / or size from or other types of fittings (2) to which the one or more other gripping configurations correspond. 21 - A method of fitting according to claim 20 characterized in that, the gripping means (6) comprising a base (12) integral with the positioning arm B70393 / FR (5), the step (a) of configuration comprises a sub-component. step (a1) of selection during which one of a plurality of available fittings is selected, a particular ferrule (14) corresponding to the fitting (2) to be laid, and a sub-step (a2) ) assembly in which is fixed on said base (12) the ferrule (14) selected in the sub-step (a1) with a coupling means (15) idoine. 22 - fitting method according to claim 21 characterized in that the step (a) of configuration comprises a substep (a0) of initialization, prior to the substep (a1) selection, during which removing from the positioning arm (5) a first ferrule formerly attached to the base (12) so as to be able to replace said first ferrule with a second newly selected ferrule during the sub-step (a1) of selection. 23 A method of shoeing according to one of claims 20 to 22 characterized in that it comprises a step (b) of collection of fitting in which is taken a fitting (2) with the aid of the gripping means (6). ) in a hardware store (25), then a step (c) of installation during which the gripping means (6) are positioned relative to the frame (3), using the positioning arm (5) , so that the fitting (2) held by said gripping means (6) is opposite a predetermined location of said frame (3) intended to receive said fitting (2), then a step (d) mounting during which said fitting (2) is fixed to said frame (3). 24 - A method of fitting according to claim 23 characterized in that it comprises a step (e) of release, subsequent to the step (d) of assembly, during which one moves away the positioning arm (5) B70393 / FRduframe (3) so as to dislodge by force of the gripping means (6) the fitting (2) fixed to the frame (3). 25 - A method of fitting according to one of claims 20 to 24 characterized in that it comprises a step (f) of defining a relative reference during which is identified a particular element of the frame (3) and the said frame (3) is associated with a relative reference frame of which said particular element constitutes the point of origin, as well as a step (g) of relative displacement during which the positioning arm (5) is moved relative to said point d origin in a predetermined direction, direction, and distance. Computer program comprising a computer program code means adapted to perform the steps of a method of fitting according to one of claims 20 to 25 when said program is executed on a computer. 27 -Support which can be read by a computer and on which is recorded a program according to claim 26. B70393 / FR